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Natural hazards, including hurricanes and earthquakes, can escalate into catastrophic societal events due to the destruction of the built environment. To minimize the impact of such hazards on vulnerable communities, civil infrastructure must be designed with performance criteria that prioritize public safety and ensure continuous operation. The National Science Foundation funded Natural Hazards Engineering Research Infrastructure (NHERI) program focuses on advancing the development of resilient infrastructure. The NHERI Lehigh Real-time Multi-directional Simulation Experimental Facility (EF) is one of the facilities within this program. The facility serves as an open-access research hub, offering advanced technologies and engineering tools to develop innovative solutions for natural hazard mitigation. It is uniquely equipped to perform large-scale, multi-directional structural testing in real-time using a cyber-physical simulation technique known as real-time hybrid simulation. This technique enables researchers to model entire systems subjected to dynamic loads at a full scale, allowing for realistic assessments of infrastructure responses to specific hazard scenarios and the development of effective mitigation strategies. This paper explores how cyber-physical simulation has revolutionized research in natural hazards engineering and its influence on engineering practices. It highlights several ongoing projects at the NHERI Lehigh EF aimed at enhancing community resilience in hazard-prone regions. The paper also discusses the planned expansion of the EF, which aims to broaden its focus to include a wider range of natural hazards, and infrastructure systems. This expansion will incorporate both physical and computational resources to enhance the understanding of fluid interactions in combined natural hazards and climate change impacts on coastal and offshore infrastructure. The NHERI Lehigh EF represents a transformative facility that is reshaping natural hazards research and will continue to play a pivotal role in the development of risk management strategies for more resilient communities. 

Abstract Real‐time hybrid simulation (RTHS) involves dividing a structural system into numerical and experimental substructures. The experimental substructure is challenging to model analytically and is therefore modeled physically in the laboratory. Analytical substructures are conventionally modeled using the finite element method. The two substructures are kinematically linked, and the governing equations of motion are solved in real‐time. Thus, the state determination of the analytical substructure needs to occur within the timestep, which is of the order of a few milliseconds. All structural systems are supported by a soil‐foundation system and any evaluation of the efficacy of response modification devices placed in the structure should consider soil‐foundation structure interaction (SFSI) effects. SFSI adds compliance to a structural system, thereby altering the natural frequencies. Additionally, nonlinear behavior in the soil can result in residual deformations in the foundation and structure, as well as provide added damping. These effects can occur under both wind and earthquake loading. To overcome the barrier of the large computational effort required to model SFSI effects in real‐time using the conventional finite element approach, a neural network (NN) model is combined with an explicit‐based analytical substructure and experimental substructure with dampers to create a framework for performing RTHS with SFSI effects. The framework includes a block of long‐short term memory (LSTM) layers that is combined with a parallel rectified linear unit (ReLU) to form a NN model of the soil‐foundation system. RTHS of a tall 40‐story steel building equipped with nonlinear viscous dampers and subjected to a windstorm are performed to illustrate the framework. It was found that a number of factors have an effect on the quality of RTHS results. These include: (i) the discretization of the wind loading into bins of basic wind speed; (ii) the extent of the NN model training as determined by the root mean square error (RMSE); (iii) noise in the restoring forces produced by the NN model and its interaction with the integration algorithm; and, (iv) the bounding of outliers of the NN model's output. Guidelines for extending the framework for the RTHS of structures subjected to seismic loading are provided. 

Real-time hybrid simulation (RTHS) divides a structural system into analytical and experimental substructures that are coupled through their common degrees of freedom. This paper introduces a framework to enable RTHS to be performed on 3D nonlinear models of tall buildings with rate dependent nonlinear response modification devices, where the structure is subjected to multi-directional wind and earthquake natural hazards. A 40-story tall building prototype with damped outriggers is selected as a case study. The analytical substructure for the RTHS consists of a 3-D nonlinear model of the structure, where each member in the building is discretely modeled in conjunction with the use of a super element. The experimental substructure for the RTHS consists of a full-scale rate-dependent nonlinear viscous damper that is physically tested in the lab, with the remaining dampers in the outrigger system modeled analytically. The analytically modeled dampers use a stable explicit non-iterative element with an online model updating algorithm, by which the covariance matrix of the damper model’s state variables does not become ill-conditioned. The damper model parameters can thereby be updated in real-time using measured data from the experimental substructure. The explicit MKR-α method is optimized and used in conjunction with the super element to efficiently integrate the condensed equations of motion of a large complex model having more than 1000 nonlinear elements, thus enabling multi-axis earthquake and wind hybrid nonlinear simulations to be performed in real-time. An adaptive servo-hydraulic actuator control scheme is used to enable precise real-time actuator displacements in the experimental substructure to be achieved that match the target displacements during a RTHS. The IT real-time architecture for integrating the components of the framework is described. To assess the framework, 3D RTHS of the 40-story structure were performed involving multi-axis translational and torsional response to multi-directional earthquake and wind natural hazards. The RTHS technique was applied to perform half-power tests to experimentally determine the amount of supplemental damping provided by the damped outrigger system for translational and torsional modes of vibration of the building. The results from the study presented herein demonstrate that RTHS can be applied to large nonlinear large structural systems involving multi-axis response to multi-directional excitation. 

The central difference is a popular algorithm used to integrate the equations of motion, yet suffers from two drawbacks: (1) it is only conditionally stable and requires a small-time step to maintain numerical stability; (2) it is nondissipative, and high-frequency spurious oscillations may appear and compromise the accuracy of the solution. These drawbacks are detrimental to applying the algorithm to the real-time hybrid simulation of large, complex nonlinear structural systems. In this paper, the conventional central difference algorithm is modified to overcome these drawbacks, and the modified algorithm is applied to the real-time hybrid simulation of complex structural systems. 

The system under investigation is a 2-story reinforced concrete building. Nonlinear viscous dampers were placed at the 1st and 2nd stories. The building was subjected to the maximum considered earthquake hazard levels. The outcome of the tests is to assess a newly developed explicit non-iterative formulation for the nonlinear viscous damper model and the ability of the unscented Kalman filter to identify and update the damper parameters in order to improve the model’s prediction of the damper force. The data collected from the tests can be reused by replaying the real-time hybrid simulation offline, where all of the response quantities of the building can be retrieved. 

The system under investigation is a 40 story building. Real-time hybrid simulations (RTHSs) were performed on the building, where the entire façade of the structure is subjected to wind loading over a 360 second duration. Nonlinear viscous dampers between the outrigger truss and perimeter columns are placed at stories 20th and 30th. The outcome of the tests is to assess the ability of the damped outrigger system to suppress undesirable floor accelerations. The data collected from the tests can be reused by replaying the real-time hybrid simulation offline, where all of the response quantities of the building can then be retrieved. The data can be reused to study the response of tall buildings with outriggers and passive dampers subjected to wind natural hazards. 

The system under investigation is a 40 story building. Real-time hybrid simulations (RTHSs) were performed on the building, where the structure is separately subjected to multi-natural hazards consisting of a 110 mph sustained wind storm and 43 second earthquake. Nonlinear viscous dampers between the outrigger truss and perimeter columns are placed at stories 20th and 30th. The outcome of the tests was to assess the ability of the damped outrigger system to suppress undesirable floor wind accelerations and reduce earthquake story drift and damage. The data collected from the tests can be reused by replaying the real-time hybrid simulation offline, where all of the response quantities of the building can be retrieved. The data can be reused to study the response of tall buildings with outriggers and passive dampers subjected to wind and earthquake natural hazards. 

Protecting both the essential building contents and the structural system—as well as facilitating and accelerating the post-event functionality of business operations—is a major concern during natural hazards. Floor isolation systems (FIS) with rolling pendulum bearings along with nonlinear fluid viscous dampers (NFVD) have been proposed to mitigate damage and enhance the resiliency of non-structural and structural systems, respectively. These devices are designed to decrease vibrations under dynamic loading conditions. In this poster, we introduce research using tridimensional nonlinear cyber-physical experimental testing (i.e., real-time hybrid simulations) to validate the performance of these response modification devices placed in structural systems under wind and earthquake loading conditions. The effects of soil-structure-foundation and fluid-structure interactions were also accounted for. The novelty of the project is the use of multi-directional large-scale real-time hybrid simulations of complex nonlinear systems under wind and earthquake demands to combine experimental structural modification passive devices with analytical multi-story buildings considering soil-foundation interaction via neural network. Results show that the FIS and NFVD can significantly reduce the demand on non-structural and structural systems of buildings subjected to natural hazards whose response can be also significantly affected by soil-foundation-structure interaction. A product of this research is the data (which is linked in Related Works), which can be used to compare with new studies using the same experimental techniques and structural modification devices or with alternative approaches. Researchers interested in multi-natural hazards resilience and mitigation, state-of-the-art structural experimental techniques, and the use of machine learning as a tool to improve modeling efficiency will benefit from its results. Also, companies dedicated to the commercial development of structural response modification devices, as well as policymakers working or with interest in economic and social resilience. 

This project will develop a new structural system that will protect buildings, their contents, and occupants during large earthquakes and will enable immediate post-earthquake occupancy. This earthquake-resilient structural system will be particularly valuable for essential facilities, such as hospitals, where damage to buildings and contents and occupant injuries must be prevented and where continuous occupancy performance is imperative. The new system will use practical structural components to economically protect a building from damaging displacements and accelerations. The project team will collaborate with Japanese researchers to study the new system with full-scale earthquake simulations using the 3D Full-Scale Earthquake Testing Facility (E-Defense) located in Miki, Japan, and operated by the National Research Institute for Earth Science and Disaster Resilience. This project will advance national health, prosperity, and welfare by preventing injuries and loss of human life and minimizing social and economic disruption of buildings due to large earthquakes. An online course on resilient seismic design will be developed and offered through the American Institute of Steel Construction night school program, which will be of interest to practicing engineers, researchers, and students across the country. This project contributes to NSF's role in the National Earthquake Hazards Reduction Program. The novel steel frame-spine lateral force-resisting system with force-limiting connections (FLC) that will be developed in this project will control multi-modal seismic response to protect a building and provide resilient structural and non-structural building performance. This frame-spine-FLC system will rely on a conventional, economical base system that resists a significant proportion of the lateral load. The system judiciously employs floor-level force-limiting deformable connections and an elastic spine to protect the base system. Integrated experiments and numerical simulations will provide comprehensive understanding of the new frame-spine-FLC system, including rich full-scale experimental data on building seismic performance with combined in-plane, out-of-plane, and torsional response under 3D excitation. The FLCs will be tested using the NHERI facility at Lehigh University. This project will be conducted in collaboration with an ongoing synergistic research program in Japan. The extensive dataset from this integrated U.S.-Japan research program will enable unique comparisons of structural and non-structural performance, including critical acceleration-sensitive hospital contents that directly affect the health and safety of patients. In addition, the dataset will enable the advancement of computational modeling for the assessment of building performance and the development of practical, accurate models for use in design that capture the complex 3D structural response that occurs during an earthquake. 

This project will develop a new structural system that will protect buildings, their contents, and occupants during large earthquakes and will enable immediate post-earthquake occupancy. This earthquake-resilient structural system will be particularly valuable for essential facilities, such as hospitals, where damage to buildings and contents and occupant injuries must be prevented and where continuous occupancy performance is imperative. The new system will use practical structural components to economically protect a building from damaging displacements and accelerations. The project team will collaborate with Japanese researchers to study the new system with full-scale earthquake simulations using the 3D Full-Scale Earthquake Testing Facility (E-Defense) located in Miki, Japan, and operated by the National Research Institute for Earth Science and Disaster Resilience. This project will advance national health, prosperity, and welfare by preventing injuries and loss of human life and minimizing social and economic disruption of buildings due to large earthquakes. An online course on resilient seismic design will be developed and offered through the American Institute of Steel Construction night school program, which will be of interest to practicing engineers, researchers, and students across the country. This project contributes to NSF's role in the National Earthquake Hazards Reduction Program. The novel steel frame-spine lateral force-resisting system with force-limiting connections (FLC) that will be developed in this project will control multi-modal seismic response to protect a building and provide resilient structural and non-structural building performance. This frame-spine-FLC system will rely on a conventional, economical base system that resists a significant proportion of the lateral load. The system judiciously employs floor-level force-limiting deformable connections and an elastic spine to protect the base system. Integrated experiments and numerical simulations will provide comprehensive understanding of the new frame-spine-FLC system, including rich full-scale experimental data on building seismic performance with combined in-plane, out-of-plane, and torsional response under 3D excitation. The FLCs will be tested using the NHERI facility at Lehigh University. This project will be conducted in collaboration with an ongoing synergistic research program in Japan. The extensive dataset from this integrated U.S.-Japan research program will enable unique comparisons of structural and non-structural performance, including critical acceleration-sensitive hospital contents that directly affect the health and safety of patients. In addition, the dataset will enable the advancement of computational modeling for the assessment of building performance and the development of practical, accurate models for use in design that capture the complex 3D structural response that occurs during an earthquake.